Stepper motor encoding systems and methods
AssigneeThe Regents of the University of Colorado
InventorsDale Lawrence, Lucy Pao
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Abstract
A method of producing a smoother torque from a multi-pole motor is described. The method includes determining an angular position of a rotor of the multi-pole motor, and producing a current to drive the multi-pole motor. The current is controlled based on the angular position of the rotor so as to produce a smoother torque, without the substantially sinusoidal characteristics of torque produced by a steady current. An apparatus is described which can employ methods of the invention to provide smoother torque from a multi-pole motor.
Claims32
A method of producing a smoother torque from a multi-pole motor, the method comprising:
- determining an angular position of a rotor of the multi-pole motor;
- producing a current to drive the multi-pole motor, the multi-pole motor configured to produce a torque with substantially sinusoidal characteristics when driven by a steady current;
- and
- controlling the current based on the determined angular position, wherein the current is controlled to produce a smoother torque without the substantially sinusoidal characteristics.
An apparatus for producing a smoother torque from a multi-pole motor, the apparatus comprising:
- the multi-pole motor configured to produce a torque with substantially sinusoidal characteristics when driven by a steady current;
- and
- a control unit coupled with the multi-pole motor, and configured to:
- determine an angular position of a rotor of the multi-pole motor;
- produce a current to drive the multi-pole motor;
- and
- control the current based on the determined angular position, wherein the current is controlled to produce a smoother torque without the substantially sinusoidal characteristics.
The apparatus of claim 25, wherein,
- the input device comprises a haptic interface.
An apparatus for producing a smoother torque from a multi-pole motor, the apparatus comprising:
- means for determining an angular position of a rotor of the multi-pole motor;
- means producing a current to drive the multi-pole motor, the multi-pole motor configured to produce a torque with substantially sinusoidal characteristics when driven by a steady current;
- and
- means for controlling the current based on the determined angular position, wherein the current is controlled to produce a smoother torque without the substantially sinusoidal characteristics.
Dependencies are inferred from the claim text.